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研究了具有控制输入约束和外部干扰的轮式移动机器人的轨迹跟踪问题.在轨迹跟踪位姿误差的T-S模型和并行分布补偿框架下,利用分段模糊Lyapunov理论给出了满足控制输入约束的H∞控制器设计方法,并证明了闭环系统的稳定性.仿真结果验证了所提方法的有效性.
The trajectory tracking problem of wheeled mobile robots with input constraints and external disturbances is studied.Under the framework of TS model and parallel distributed compensation of trajectory tracking pose errors, a piecewise fuzzy Lyapunov theory is proposed to satisfy the H ∞ controller design method and prove the stability of the closed-loop system.The simulation results verify the effectiveness of the proposed method.